// SEE END OF FILE FOR LICENSE TERMS

#include "libDCM.h"

void dcm_init_rmat(void) ;

void estYawDrift(void) ;
void estimateWind(void) ;

void commit_gps_data(void) ;

void gpsoutline(char message[]) ;
void gpsoutbin(int length , const unsigned char msg[] ) ;

void dcm_run_imu_step(void) ;	// This needs to be run every 25ms
void rxMagnetometer(void) ;		// This should be called every 250ms


extern signed char	actual_dir ;
extern int velocity_previous  ;

extern fractional dirovergndHRmat[] ;
extern fractional dirovergndHGPS[] ;
extern fractional omega[] ;

extern fractional magFieldEarth[3] ;
extern fractional locationErrorEarth[3] ;

extern union longbbbb tow ;
extern union intbb    sog_gps , cog_gps , climb_gps, week_no ;
extern unsigned char  hdop ;
extern union longbbbb xpg , ypg , zpg ;
extern union intbb    xvg , yvg , zvg ;
extern unsigned char  mode1 , mode2 , svs, hdop ;

extern int forward_acceleration  ;

extern unsigned char  	lat_cir ;
extern int				cos_lat ;

#if ( HILSIM == 1 )
extern union intbb		u_dot_sim_, v_dot_sim_, w_dot_sim_; 
extern union intbb		u_dot_sim, v_dot_sim, w_dot_sim; 
extern union intbb		p_sim_, q_sim_, r_sim_; 
extern union intbb		p_sim, q_sim, r_sim; 
#endif


/****************************************************************************/
// This is part of the servo and radio interface software
//
// ServoInterface source code
//	http://code.google.com/p/rc-servo-interface
//
// Copyright 2010 ServoInterface Team
// See the AUTHORS.TXT file for a list of authors of ServoInterface.
//
// ServoInterface is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// ServoInterface is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License 
// along with ServoInterface.  If not, see <http://www.gnu.org/licenses/>.
//
// Many parts of ServoInterface use either modified or unmodified code
// from the MatrixPilot pilot project.
// The project also contains code for modifying MatrixPilot to operate
// with ServoInterface.
// For details, credits and licenses of MatrixPilot see the AUTHORS.TXT file.
// or see this website: http://code.google.com/p/gentlenav
/****************************************************************************/
